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An Elasticity Inspired method for multi-AUVs formation control using range-only measurements
Xu HL(徐红丽); Li GN(李冠男)
作者部门海洋信息技术装备中心
会议名称OCEANS 2014 MTS/IEEE Taipe
会议日期April 7-10, 2014
会议地点Taipei, Taiwan
会议录名称OCEANS 2014 MTS/IEEE
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1-4
收录类别EI
EI收录号20145100342993
产权排序1
ISBN号978-1-4799-3646-5
关键词Formation Control Multi-auvs System Range-only Measurements Elasticity Inspired Method
摘要Multi-AUVs formation control has received a lot of theoretical research achievements during the past ten years. Recent researches pay more attention to the application-oriented problems such as communication constraints, range-only measurements, actural mission restrictions and so on. Particularly the range-only measurements is a general problem for AUV because it is more difficult to measure relative orientation or to deliver location information in real time than to measure relative distance through acoustic sensor. In response to this problem, this paper discusses three AUVs formation in which each AUV can only measure the relative distances of the other AUVs and presents a novel method named by Elasticity Inspired (ELASI )Method. The performance of the proposed formation controller is verified by numerical simulations.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15356
专题海洋信息技术装备中心
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
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Xu HL,Li GN. An Elasticity Inspired method for multi-AUVs formation control using range-only measurements[C]. Piscataway, NJ, USA:IEEE,2014:1-4.
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